• Proceedings of the Korean Society of Fisheries Technology Conference
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• 2001.10a
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• pp.79-80
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• 2001

저층트롤 어업은 주로 고가의 저서성 어족을 대상으로 조업이 이루어지고, 어구의 구조나 규모가 다양하며 발줄은 어구의 접지성을 유지하는 기능과 함께 어군을 망구에 구집 하는 역활을 한다. 저층 예망어구는 해저를 소해 하면서 예방하기 때문에 해저와의 마찰 저항이 많을 뿐만 아니라 뻘을 뜨거나 장애물에 걸리는 사고가 발생하기도 하여, 어획성능에도 많은 영향을 받는다. 이에 대한 연구로써, 독일에서는 빔 트롤의 체인의 형태에 따른 모형 트롤어구의 역학적 특성을 실험(1997, Uwe Richter)한 바가 있고, 일본에서도 발줄의 형상에 관한 연구(1992,Fuwa)가 있다. (중략)

• Journal of KSNVE
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• v.3 no.3
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• pp.192-198
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• 1993

옥외에서 발생하는 소음은 음원과 수음점 사이의 시선을 차단하는 장애물을 설치하는 방법이외에는 달리 방도가 없는 경우가 많다. 빛과 마찬가지로 소리도 시선이 차단되면 소리의 그늘이 지는데 빛의 경우보다는 상당히 강한 음장이 이 그늘에 존재한다. 그늘 영역에서의 음장은 소리의 회절현상에 기인하는 것으로서 회절음장은 곧 방음벽의 차음효과를 좌우한다. 방음벽의 차음효과는 잉여감쇠(excessive attenuation)로 표시되는데 잉여감쇠에 영향을 주는 인자는 방음벽의 기하학적 조건, 음향학적 성질, 설치지면, 주변지형, 풍속 및 온도분포와 같은 기상조건, 음원의 특성 등 다양하지만 가장 기본적인 인자는 기하학적인 조건이다. 본고는 방음벽의 원리에 국한하여 살펴보기 위해 기술된 것이므로 주로 판 또는 쐐기 형태의 물체에 의한 회절현상을 취급하였다.

• 전자공학회논문지 IE
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• v.47 no.2
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• pp.66-72
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• 2010

In an autonomous multi-mobile robot environment, optimal path planning without collision which connects the beginning and ending point is essential and primary important. Many mobile robots should move autonomously without prior or given information about obstacles which are stationary or dynamic. Collision free optimal path planning for multi mobile robots is proposed in this paper. The proposed approach is based on a potential field method and fuzzy logic system. First, a global path planner using potential field method selects the shortest path from each robot to its own target. Then, a local path planner modifies the path and orientation from the global planner to avoid collisions with static and dynamic obstacles using a fuzzy logic system. To verify performance of this method, several simulation-based experimental are done and their results are discussed. These results show that the path planning and collision avoidance strategies are effective and useful for multi-mobile robot systems.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.1
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• pp.59-64
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• 2005

In the paper, we propose an intelligent walking algorithm of biped robot on the uneven ground and a posture stabilization algorithm against external forces. At first, the mechanics and the control system of biped robot that can walk on the uneven ground and stand external forces are designed. We propose obstacle hurdling, incline walking. and going-up stairs algorithm by using infrared sensors and FSR sensors. Also, posture stabilization algorithm against external forces is designed using FSR sensors. Infrared sensors ate used to detect the obstacles in the working environment and FSR sensors are used to obtain the ZMP of biped robot. The developed biped robot can be controlled by the remote control system using vision system and RF module. The experimental results show that the biped robot Performs obstacle avoidance, obstacle hurdling, walking on the inclined plane, and going up stairs using the proposed walking and stabilization algorithm.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.3
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• pp.169-175
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• 2016

There are many researches to develop robots that improve its mobility and task planning to adapt in various uneven environments. In this paper, we propose the design method and task planning of quadruped robot which can have top-bottom docking structure. The proposed quadruped robot is designed to adjust leg length using linear actuators and perform top-bottom docking and undocking using octagonal cone shaped docking module. Also, to stable walking and information gathering in the various environments, a geomagnetic sensor, PSD sensor, LRF sensor and camera. We propose an obstacle avoidance method and the topbottom docking algorithm of the two quadruped robots using linear actuator. The robot can overcome obstacles using adjusting leg length and activate the top-bottom docking function. The top-bottom docking robots of two quadruped robot can walk 4 legged walking and 6 legged walking, and use 4 arms or 2 arms the upper. We verified that the docking robots can carry objects using 4 leg of the upper robot.

• Journal of Korea Society of Industrial Information Systems
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• v.16 no.2
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• pp.65-72
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• 2011

In this paper, a real-time monocular vision based navigation system is developed for the disabled people, where online background learning and vector field histogram are used for identifying obstacles and recognizing avoidable paths. The proposed system is performed by three steps: obstacle classification, occupancy grid map generation and VFH-based path recommendation. Firstly, the obstacles are discriminated from images by subtracting with background model which is learned in real time. Thereafter, based on the classification results, an occupancy map sized at $32{\times}24$ is produced, each cell of which represents its own risk by 10 gray levels. Finally, the polar histogram is drawn from the occupancy map, then the sectors corresponding to the valley are chosen as safe paths. To assess the effectiveness of the proposed system, it was tested with a variety of obstacles at indoors and outdoors, then it showed the a'ccuracy of 88%. Moreover, it showed the superior performance when comparing with sensor based navigation systems, which proved the feasibility of the proposed system in using assistive devices of disabled people.

• Journal of the Korean Institute of Gas
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• v.19 no.6
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• pp.54-61
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• 2015

A series of CFD calculation has been conducted to investigate the effect of facility confinement on explosion power for process plant facility. The level of confinement of a facility was simplified with VBR(volume blockage ratio) and averaged size of obstacles. FLACS which is 3D CFD code of gas dispersion and the explosion was used for simulating the explosion phenomena in the idealized domain with different confinement level. The CFD results showed a tendency that the overpressure increases with increasing VBR and number of obstacles. The effect of VBR on the overpressure was relatively small for the case of number of obstacle less than 25. The results of this study can be used to provide a safety guideline considering the facility confinement in case of leakage accident of flammable gas and vapor in process plants.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.11A
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• pp.933-940
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• 2011

In this paper, Ka-band transceiver for road watch radar system is designed and fabricated. The transceiver for road watch radar system is composed of waveform generator, frequency generator. IF transceiver and RF up/down converter. The transceiver especially has 3 different waveform mode for target detection range. The transceiver had over 150 MHz bandwidth in Ka-band and 22 dBm output power. The receiver gain and noise figure was 30 dB and 4 dB respectively. The receive dynamic range was 65.28dB and amplitude imbalance and phase imbalance of I/Q channel was 0.3 dB and 1.8 degree respectively. The transceiver meets the required electrical performances through the individual tests.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.5
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• pp.448-454
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• 2008

This paper deals with a behavior based decentralized control strategy for UAV swarming utilizing the artificial potential functions and the sliding mode control technique. Individual interactions for swarming behavior are modeled using the artificial potential functions. The motion of individual UAV is directed toward the negative gradient of the combined potential. For tracking the reference trajectory of UAV swarming, a swarming center is considered as the object of control. The sliding-mode control technique is adopted to make the proposed swarm control strategy robust with respect to the system uncertainties and the varying mission environment. Numerical simulation is performed to verify the performance of the proposed controller.

• Journal of the Korean Institute of Gas
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• v.16 no.5
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• pp.58-65
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• 2012

Various models are currently applied to predict the dispersion of leaked combustible gas and overpressure from a vapor cloud explosion(VCE). However, those models use simple approaches where topography and barriers of anti-leakage facilities and the effects of buildings were not sufficiently taken into considerations. For this reason, this study has proposed the dispersion process of leaked gas, distribution patterns, and flames and overpressure generated from gas explosions in 2D and 3D virtual spaces by reviewing more accurately analyzable computational fluid dynamics (CFD) model by considering various variables including combustion types of leaked substances, geometry of facility, warm currents, barriers, the influence of wind, and others. The CFD analysis results are anticipated to be usefully applied for the risk analysis of explosion and for the risk-based design.